---
title: ManiSkill
description: "GPU-parallel SAPIEN manipulation benchmark from UCSD Hao Su Lab. WorldFoundry imports official rollouts — it does not run the simulator."
---

ManiSkill is UC San Diego Hao Su Lab's **GPU-parallel** manipulation benchmark on **SAPIEN**: dozens of skill families, multiple robot embodiments, demonstration datasets, and massively parallel rollouts for RL and imitation. The paper is [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://arxiv.org/abs/2302.04659). Project: [maniskill.ai](https://maniskill.ai/). Code: [haosulab/ManiSkill](https://github.com/haosulab/ManiSkill) (Apache-2.0). Later ManiSkill2 / ManiSkill3 releases keep the same lab and engine; this card is the ManiSkill importer, not a silent rename of those pages.

WorldFoundry's path is **official-results only**. You run the upstream tooling, then `official-validation` normalizes JSON/CSV rollout summaries into the unified scorecard. Simulator execution, policy loading, and data collection stay explicit and upstream. The repo mirror is `cache/vla_va_wam/repos/haosulab--ManiSkill`.

<BenchmarkPageSections id="maniskill" locale="en" />

## How to run

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id maniskill \
  --mode official-validation \
  --official-results-path <official_results.json> \
  --output-dir tmp/maniskill/official-validation \
  --json
```

Default import path when you omit `--official-results-path` is `WORLDFOUNDRY_MANISKILL_RESULTS_PATH`. Task manifest: `worldfoundry/data/benchmarks/tasks/external/maniskill.yaml`. Outputs: `scorecard.json` (primary `success_rate`) and `raw_results.jsonl`.

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